From ce4dd5cba076e7ae21faffcc02ab0bf08d1b0949 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期二, 22 八月 2023 16:33:01 +0800
Subject: [PATCH] 修改uwb文件逻辑，方便移植
---
Src/application/dw_app.c | 1392 ---------------------------------------------------------
1 files changed, 16 insertions(+), 1,376 deletions(-)
diff --git a/Src/application/dw_app.c b/Src/application/dw_app.c
index 044c4bf..6004c16 100644
--- a/Src/application/dw_app.c
+++ b/Src/application/dw_app.c
@@ -31,55 +31,7 @@
#include "modbus.h"
#include "BMP390.h"
/*------------------------------------ Marcos ------------------------------------------*/
-/* Inter-ranging delay period, in milliseconds. */
-#define RNG_DELAY_MS 100
-/* Default antenna delay values for 64 MHz PRF. See NOTE 1 below. */
-#define TX_ANT_DLY 0
-#define RX_ANT_DLY 32899
-
-/* UWB microsecond (uus) to device time unit (dtu, around 15.65 ps) conversion factor.
- * 1 uus = 512 / 499.2 祍 and 1 祍 = 499.2 * 128 dtu. */
-#define UUS_TO_DWT_TIME 65536
-
-/* Delay between frames, in UWB microseconds. See NOTE 4 below. */
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define POLL_TX_TO_RESP_RX_DLY_UUS 10
-/* This is the delay from Frame RX timestamp to TX reply timestamp used for calculating/setting the DW1000's delayed TX function. This includes the
- * frame length of approximately 2.66 ms with above configuration. */
-#define RESP_RX_TO_FINAL_TX_DLY_UUS 1000
-
-/* Receive response timeout. See NOTE 5 below. */
-#define RESP_RX_TIMEOUT_UUS 4000
-
-#define DELAY_BETWEEN_TWO_FRAME_UUS 240
-
-#define POLL_RX_TO_RESP_TX_DLY_UUS 470
-/* This is the delay from the end of the frame transmission to the enable of the receiver, as programmed for the DW1000's wait for response feature. */
-#define RESP_TX_TO_FINAL_RX_DLY_UUS 200
-/* Receive final timeout. See NOTE 5 below. */
-#define FINAL_RX_TIMEOUT_UUS 4300
-
-
-#define SPEED_OF_LIGHT 299702547
-
-/* Indexes to access some of the fields in the frames defined above. */
-#define FINAL_MSG_POLL_TX_TS_IDX 10
-#define FINAL_MSG_RESP_RX_TS_IDX 14
-#define FINAL_MSG_FINAL_TX_TS_IDX 18
-#define FINAL_MSG_TS_LEN 4
-
-#define STARTPOLL DISCPOLL//#define SWITCHBASE_DIST
-#define SWITCHBASE_ZHUANDIAN
-#define SWITCHBASE_DIST
-enum enumtagstate
-{
- REGPOLL,
- DISCPOLL,
- GETNEARMSG,
- NEARPOLL,
- SINGLEPOLL,
-} tag_state=STARTPOLL;
dwt_config_t config = {
5, /* Channel number. */
DWT_PRF_64M, /* Pulse repetition frequency. */
@@ -92,81 +44,7 @@
DWT_PHRMODE_STD, /* PHY header mode. */
(129 + 8 - 8) /* SFD timeout (preamble length + 1 + SFD length - PAC size). Used in RX only. */
};
-static uint8_t tx_poll_msg[20] = {0};
-static uint8_t tx_sync_msg[14] = {0};
-static uint8_t tx_final_msg[60] = {0};
-static uint8_t tx_resp_msg[22] = {0};
-uint8_t tx_near_msg[180] = {0};
-static uint32_t frame_seq_nb = 0;
-static uint32_t status_reg = 0;
-static uint8_t rx_buffer[100];
-static uint64_t poll_tx_ts;
-static uint64_t resp_rx_ts;
-static uint64_t final_tx_ts;
-static uint64_t poll_rx_ts;
-static uint64_t resp_tx_ts;
-static uint64_t final_rx_ts;
-int32_t anchor_dist_last_frm[TAG_NUM_IN_SYS],his_dist[TAG_NUM_IN_SYS]; ;
-uint32_t tag_id = 0;
-uint32_t tag_id_recv = 0;
-uint32_t anc_id_recv = 0;
-uint8_t random_delay_tim = 0;
-double distance, dist_no_bias, dist_cm;
-uint32_t g_UWB_com_interval = 0;
-float dis_after_filter; //当前距离值
-LPFilter_Frac* p_Dis_Filter; //测距用的低通滤波器
-
-void NextSlotDelayMs(int16_t delayms);
-void GetNearMsg(void);
-void Registor_Poll(void);
-static uint64_t get_tx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readtxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
-
-static uint64_t get_rx_timestamp_u64(void)
-{
- uint8_t ts_tab[5];
- uint64_t ts = 0;
- int i;
- dwt_readrxtimestamp(ts_tab);
- for (i = 4; i >= 0; i--)
- {
- ts <<= 8;
- ts |= ts_tab[i];
- }
- return ts;
-}
-
-static void final_msg_set_ts(uint8_t *ts_field, uint64_t ts)
-{
- int i;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- ts_field[i] = (uint8_t) ts;
- ts >>= 8;
- }
-}
-
-static void final_msg_get_ts(const uint8_t *ts_field, uint32_t *ts)
-{
- int i;
- *ts = 0;
- for (i = 0; i < FINAL_MSG_TS_LEN; i++)
- {
- *ts += ts_field[i] << (i * 8);
- }
-}
void Dw1000_Init(void)
{
@@ -184,32 +62,12 @@
/* Apply default antenna delay value. See NOTE 1 below. */
- dwt_setrxantennadelay(RX_ANT_DLY); //设置接收天线延迟
- dwt_settxantennadelay(TX_ANT_DLY); //设置发射天线延迟
+ dwt_setrxantennadelay(32899); //设置接收天线延迟
+ dwt_settxantennadelay(0); //设置发射天线延迟
/* Set expected response's delay and timeout. See NOTE 4 and 5 below.
* As this example only handles one incoming frame with always the same delay and timeout, those values can be set here once for all. */
//设置接收超时时间
-}
-void Dw1000_App_Init(void)
-{
-//g_com_map[DEV_ID] = 0x0b;
- //tag_state=DISCPOLL;
- tx_poll_msg[MESSAGE_TYPE_IDX]=POLL;
- tx_resp_msg[MESSAGE_TYPE_IDX]=RESPONSE;
- tx_final_msg[MESSAGE_TYPE_IDX]=FINAL;
- tx_sync_msg[MESSAGE_TYPE_IDX]=SYNC;
-
- memcpy(&tx_poll_msg[GROUP_ID_IDX], &group_id, 1);
- memcpy(&tx_final_msg[GROUP_ID_IDX], &group_id, 1);
- memcpy(&tx_resp_msg[GROUP_ID_IDX], &group_id, 1);
-
- memcpy(&tx_poll_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_final_msg[TAG_ID_IDX], &dev_id, 2);
- memcpy(&tx_resp_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_sync_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[ANCHOR_ID_IDX], &dev_id, 2);
- memcpy(&tx_near_msg[TAG_ID_IDX], &dev_id, 2);
}
uint16_t Checksum_u16(uint8_t* pdata, uint32_t len)
{
@@ -221,1209 +79,24 @@
return sum;
}
-u16 tag_time_recv[TAG_NUM_IN_SYS];
-u8 usart_send[40];
-u8 battary,button;
+
+
+
extern uint8_t g_pairstart;
void tag_sleep_configuraion(void)
{
dwt_configuresleep(0x940, 0x7);
dwt_entersleep();
}
-extern uint8_t g_start_send_flag;
-
-uint16_t g_Resttimer;
-uint8_t result;
-u8 tag_succ_times=0;
-int32_t hex_dist;
-u16 checksum;
-int8_t tag_delaytime;
-extern uint16_t sync_timer;
-u16 tmp_time;
-int32_t temp_dist;
-u16 tagslotpos;
-
-u16 anclist_num=0,anclist_pos; //list 总数量和当前位置
-u16 ancid_list[TAG_NUM_IN_SYS];
-u8 nearbase_num;
-u16 mainbase_id;
-int32_t mainbase_dist,base_mindist;
-uint8_t trygetnearmsg_times,try_reg_times;
-u16 mainbase_id,true_nearbase_idlist[MAX_NEARBASE_NUM],nearbaseid_list0[MAX_NEARBASE_NUM],nearbaseid_list[MAX_NEARBASE_NUM],nearbaseid_list2[MAX_NEARBASE_NUM];
-u8 FindNearBasePos(u16 baseid)
-{
- u8 i;
- for(i=0; i<nearbase_num; i++)
- {
- if(baseid==nearbaseid_list[i])
- return i;
- }
-}
-u8 recbase_num=0;
-#define CHANGE_BASE_THRESHOLD 5
-uint8_t GetRandomValue(void)
-{
- uint8_t random_value=0,temp_adc,i;
- for(i=0; i<8; i++)
- {
- temp_adc=Get_ADC_Value();
- random_value=random_value|((temp_adc&0x01)<<i);
- }
- return random_value;
-}
-u8 GetRandomSlotPos(uint32_t emptyslot)
-{
- u8 i,temp_value;
- temp_value = HAL_LPTIM_ReadCounter(&hlptim1);//GetRandomValue();
- for(i=temp_value%32; i<max_slotpos; i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
-
- for(i=1; i<max_slotpos; i++)
- {
- if(((emptyslot>>i)&0x1)==0)
- {
- return i;
- }
- }
- return max_slotpos-1;
-}
-void MODBUS_Poll(void)
-{
- uint32_t frame_len;
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,getsync_flag=0;
- u8 bat_percent;
- //LED0_ON;
- //dwt_forcetrxoff();
- g_Resttimer=0;
- dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
- tag_succ_times = 0;
-
- if(bat_percent>100)
- bat_percent=100;
- tx_poll_msg[BATTARY_IDX] = bat_percent;//Get_Battary();
-// tx_poll_msg[BUTTON_IDX] = !READ_KEY0;
- tx_poll_msg[SEQUENCE_IDX] = frame_seq_nb++;
-// GPIO_WriteBit(GPIOA, GPIO_Pin_9, Bit_RESET);
- for(i=0; i<g_com_map[MAX_REPORT_ANC_NUM]; i++)
- {
- /* Write frame data to DW1000 and prepare transmission. See NOTE 7 below. */
- tx_poll_msg[ANC_TYPE_IDX] = i;
-
- dwt_writetxdata(sizeof(tx_poll_msg), tx_poll_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(sizeof(tx_poll_msg), 0);//设置超宽带发送数据长度
-
- /* Start transmission, indicating that a response is expected so that reception is enabled automatically after the frame is sent and the delay
- * set by dwt_setrxaftertxdelay() has elapsed. */
- dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
-// start_poll = time32_incr;
- /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
- {
- IdleTask();
-
- };
-
- /* Increment frame sequence number after transmission of the poll message (modulo 256). */
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
-
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- /* Clear good RX frame event and TX frame sent in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
-
- /* A frame has been received, read it into the local buffer. */
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
-
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
-
-
- /* Check that the frame is the expected response from the companion "DS TWR responder" example.
- * As the sequence number field of the frame is not relevant, it is cleared to simplify the validation of the frame. */
-
- if (rx_buffer[GROUP_ID_IDX] == group_id&&rx_buffer[MESSAGE_TYPE_IDX] == RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,4)) //判断接收到的数据是否是response数据
- { u16 anc_id_recv,rec_com_interval;
- /* Retrieve poll transmission and response reception timestamp. */
- poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
- resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
-
- if(getsync_flag==0&&g_com_map[DEV_ROLE])
- {
- getsync_flag=1;
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {
- sync_timer=0;
- }
- }
- // TIM3->CNT=tmp_time;
- }
- // memcpy(&hex_dist2, &rx_buffer[DIST_IDX], 4);
- memcpy(&tx_final_msg[ANCHOR_ID_IDX], &rx_buffer[ANCHOR_ID_IDX], 4);
- // memcpy(&rec_com_interval,&rx_buffer[ANCSEND_INTERVAL], 2);
-// if(rec_com_interval>4&&rec_com_interval!=g_com_map[COM_INTERVAL])
-// {
-// g_com_map[COM_INTERVAL]=rec_com_interval;
-// save_com_map_to_flash();
-// // delay_ms(100);
-// SCB->AIRCR = 0X05FA0000|(unsigned int)0x04; //软复位回到bootloader
-// }
-
- /* Compute final message transmission time. See NOTE 9 below. */
- final_tx_time = (resp_rx_ts + (RESP_RX_TO_FINAL_TX_DLY_UUS * UUS_TO_DWT_TIME)) >> 8;//计算final包发送时间，T5=T4+Treply2
- dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
-
- /* Final TX timestamp is the transmission time we programmed plus the TX antenna delay. */
- final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
-
- /* Write all timestamps in the final message. See NOTE 10 below. */
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_RESP_RX_TS_IDX], resp_rx_ts);
- final_msg_set_ts(&tx_final_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
-
- /* Write and send final message. See NOTE 7 below. */
-
- dwt_writetxdata(sizeof(tx_final_msg), tx_final_msg, 0);//将发送数据写入DW1000
- dwt_writetxfctrl(sizeof(tx_final_msg), 0);//设定发送数据长度
- result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
-
- tag_succ_times++;
-
- LED0_BLINK;
-
- memcpy(&anc_id_recv,&rx_buffer[ANCHOR_ID_IDX],2);
-// if(hex_dist2!=0xffff)
-// {
-// g_Tagdist[anc_id_recv]= hex_dist2;
-// g_flag_Taggetdist[anc_id_recv]=0;
-//
-// if(!g_com_map[MODBUS_MODE])
-// {
-// hex_dist2 = hex_dist2;
-// usart_send[2] = 1;//正常模式
-// usart_send[3] = 17;//数据段长度
-// usart_send[4] = frame_seq_nb;//数据段长度
-// memcpy(&usart_send[5],&dev_id,2);
-// memcpy(&usart_send[7],&rx_buffer[ANCHOR_ID_IDX],2);
-//
-// memcpy(&usart_send[9],&hex_dist2,4);
-// usart_send[13] = bat_percent;
-// usart_send[14] = button;
-// checksum = Checksum_u16(&usart_send[2],17);
-// memcpy(&usart_send[19],&checksum,2);
-// UART_PushFrame(usart_send,21);
-// }
-// }
- // memcpy(&Modbus_HoldReg[anc_id_recv*2],&hex_dist,4);
- /* Poll DW1000 until TX frame sent event set. See NOTE 8 below. */
- if(result==0)
- { while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
- { };
- }
- /* Clear TXFRS event. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_TXFRS);//清除标志位
-
- /* Increment frame sequence number after transmission of the final message (modulo 256). */
-
- random_delay_tim = 0;
- }
- else
- {
- random_delay_tim = DFT_RAND_DLY_TIM_MS; //如果通讯失败，将间隔时间增加5ms，避开因为多标签同时发送引起的冲突。
- }
- }
- else
- {
- /* Clear RX error events in the DW1000 status register. */
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
- random_delay_tim = DFT_RAND_DLY_TIM_MS;
- }
-// deca_sleep(10);
- }
-// dwt_entersleep();
-
-
- /* Execute a delay between ranging exchanges. */
- delay_ms(30);
-
-}
-int32_t mainbase_dist,nearbase_switchdistlist[MAX_NEARBASE_NUM],nearbase_distlist[MAX_NEARBASE_NUM],true_nearbase_distlist[MAX_NEARBASE_NUM],true_exsistbase_list[MAX_NEARBASE_NUM],ancsync_time,nextpoll_delaytime,offsettimeus;
-u8 anclost_times=0 , mainbase_lost_count=0;
-u8 exsistbase_list[MAX_NEARBASE_NUM],report_num,get_newbase=0;
-u8 flag_finalsend,flag_getresponse,flag_rxon;
-uint16_t current_count,start_count,end_count,lastsync_timer;
-extern u16 bigslot_num;
-u8 nearbase_num=0,last_nearbase_num,next_nearbase_num,last_slotnum, para_update,para_len,stationary_flag=0;
-u32 rec_tagpos_binary;
-int16_t offset=4700,temptimer;
-u8 motor_state,rec_remotepara_state,rec_remotepara[80];
-
-
-#define SINGLEPOLL_BASENUM 5
-uint16_t singlepoll_baseid[20]= {0x8166,0x9804,0x9689,0x9686,0x8279,0x9815,0x9803,0x9814,0x9687,0x9774,0x8278,0x9743,0x9688,0x9771,0x8277};
-int32_t singlepoll_basedist[20];
-
-extern u8 userkey_state;
-extern float motor_keeptime;
-uint8_t changemainbase_count=0,gotosleep_flag,singlepoll_i;
-uint32_t frame_len;
-int32_t salvebase_mindist;
int16_t intheight;
-static uint8_t send_buffer[200];
-int16_t target_offsettime = 850;
-//#define TAGET_OFFSETTIME 940
-#define MAX_NEARBASE_ANCNUM 11
-u16 rec_maxrangelen,rec_anc_signalpower[MAX_NEARBASE_ANCNUM];
-u8 outrange_times;
-extern u32 synctimer;
-u32 target_time=100;
-u8 pd_i;
-u32 temptime,delaytime,expect_anctime;
-int32_t error_time;
-u16 delaycount;
-int16_t poll_offsettime=-6900,clockoffset;
-extern u16 slotpos_intoatl, slotpos;
-void NextPollDelay(u32 anchor_time)
-{
- //tagslotpos = 0;
- error_time = anchor_time-expect_anctime;
- if(error_time<2000&&error_time>0)
- clockoffset += (target_offsettime-error_time)*0.1;
- for(pd_i=0; pd_i<tag_frequency; pd_i++)
- {
- slotpos_intoatl = pd_i*bigslot_num+tagslotpos;
- temptime = (slotpos_intoatl*SLOTTIME_MS+100)*100;
- if(anchor_time<temptime-5000)
- {
- current_slotnum = pd_i;
- delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
- expect_anctime = temptime;
- return ;
- }
- }
- temptime = (tagslotpos*SLOTTIME_MS+100+10000)*100;
- expect_anctime = temptime-1000000;
- delaytime = temptime-anchor_time+poll_offsettime+clockoffset;
- return ;
-}
-u16 lpcount,poll_startcount,last_lpcount;
-u16 waketopolltimeus = 3200;
-#define BASENUM_COMTIME 244
-u32 last_anchor_time;
-void SetLPTimer(u32 anchor_time)
-{
- NextPollDelay(anchor_time);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- lpcount = current_count+delaytime/LPTIMER_LSB+(10-nearbase_num)*8;
- poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
- if(poll_startcount>=32768)
- {
- poll_startcount -=32768;
- }
- if(lpcount>=32768)
- {
- lpcount -=32768;
- }
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
- last_lpcount = lpcount;
-}
-
-void NextSlotDelayMs(int16_t delayms)
-{
- current_slotnum++;
- if(current_slotnum>=tag_frequency)
- {
- current_slotnum = 0;
- lpcount = last_lpcount+31457/tag_frequency+1311+32.767*delayms;//(float)(delayms+40)*32.767 ;//(200/tag_frequency+delayms)*4.8*1000/LPTIMER_LSB
- } else {
- lpcount = last_lpcount+31457/tag_frequency+32.767*delayms;//(float)(200/tag_frequency*48+delayms*10)*3.3 ;
- }
- if(lpcount>=32768)
- {
- lpcount -=32768;
- }
- poll_startcount = lpcount+(waketopolltimeus)/LPTIMER_LSB;
- if(poll_startcount>=32768)
- {
- poll_startcount -=32768;
- }
- __HAL_LPTIM_COMPARE_SET(&hlptim1, lpcount);
- last_lpcount = lpcount;
-}
-
-u8 nearmsg_mainbase=0,rec_tagpos_emptylist[32],mainbase_type;;
-void GetNearMsg(void)
-{
- u32 start_poll,frame_len;
- u8 nearmsg_i=0;
- NextSlotDelayMs(0);
- for(nearmsg_i=0; nearmsg_i<MAX_NEARBASE_NUM; nearmsg_i++)
- {
- nearbase_distlist[nearmsg_i] = 0x1ffff;
- }
-//mainbase_id = 0x1;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- memcpy(&tx_near_msg[TAG_ID_IDX],&dev_id,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = POS_MSG;
-
-
- dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
- dwt_writetxdata(12, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(12, 0);//设置超宽带发送数据长度
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while(current_count<poll_startcount||current_count>poll_startcount+16384)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count<poll_startcount-300)
- {
- break;
- }
- }
- dwt_starttx(DWT_START_TX_IMMEDIATE| DWT_RESPONSE_EXPECTED);
- NextSlotDelayMs(0);
- /* We assume that the transmission is achieved correctly, poll for reception of a frame or error/timeout. See NOTE 8 below. */
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
- {
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == POS_MSG&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- {
- nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(&rec_tagpos_binary,&rx_buffer[NEARMSG_EMPTYSLOTPOS_INDEX],4);
- // tagslotpos=GetRandomSlotPos(rec_tagpos_binary);
- //tagslotpos=rx_buffer[TAGSLOTPOS];
- memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- //slottime=ceil((nearbase_num+2)*0.3)+1;
- //tyncpoll_time=tagslotpos*slottime;
- //tyncpoll_time=(g_com_map[DEV_ID]%max_slotpos)*slottime;
- tag_state=NEARPOLL;
- }
- } else {
-// tyncpoll_time = (tagslotpos--%max_slotpos)*slottime;
- }
-}
-void SendHuiZongData(void)
-{
- usart_send[2] = 0x0c;//正常模式
- usart_send[3] = 15+8*(nearbase_num+1);//数据段长度
- memcpy(&usart_send[4],&dev_id,2);
- usart_send[6] = frame_seq_nb;
- usart_send[7] = frame_seq_nb>>8;
- usart_send[8] = bat_percent;
- usart_send[9] = tx_near_msg[BUTTON_IDX];
-
- memcpy(&usart_send[10],&intheight,2);
- usart_send[12] = tag_frequency;
- usart_send[13] = tagslotpos;
- usart_send[14] = 0;
- usart_send[15] = 0;
- usart_send[16] = nearbase_num+1;
- memcpy(&usart_send[17],&mainbase_id,2);
- memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
- memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
- memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
-
- checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
- memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
- USART_puts(usart_send,27+8*nearbase_num);
- //HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
-}
-#define FREQ_OFFSET_MULTIPLIER (998.4e6/2.0/1024.0/131072.0)
-#define FREQ_OFFSET_MULTIPLIER_110KB (998.4e6/2.0/8192.0/131072.0)
-
-// Multiplication factors to convert frequency offset in Hertz to PPM crystal offset
-// NB: also changes sign so a positive value means the local RX clock is running slower than the remote TX device.
-
-#define HERTZ_TO_PPM_MULTIPLIER_CHAN_1 (-1.0e6/3494.4e6)
-#define HERTZ_TO_PPM_MULTIPLIER_CHAN_2 (-1.0e6/3993.6e6)
-#define HERTZ_TO_PPM_MULTIPLIER_CHAN_3 (-1.0e6/4492.8e6)
-#define HERTZ_TO_PPM_MULTIPLIER_CHAN_5 (-1.0e6/6489.6e6)
-int32_t test2;
-uint8_t pack_length = 0,pack_index = 0,pack_msgtype = 0;
-uint8_t motor_flag;
-uint32_t testtimer[10],testtimer2,anc_pollrx[11],anc_resptx[11],tag_resprx[11];
-int32_t anc_clockoffset[11];
-int16_t anc_distoffset[11];
-extern uint8_t Pah_HRD_flag_fangchai;
-uint8_t get_newdist,notenoughdist_count;
-void SetANCTimestap(uint8_t i,uint8_t* pollrx,uint8_t* resptx,uint32_t resprx,uint8_t* distoffset)
-{
- memcpy(&anc_pollrx[i],pollrx,4);
- memcpy(&anc_resptx[i],resptx,4);
- memcpy(&tag_resprx[i],&resprx,4);
- memcpy(&anc_distoffset[i],distoffset,2);
- anc_clockoffset[i] = test2;
-}
-float clockOffsetRatio;
-double rtd_init, rtd_resp;
-double tof,distance;
-extern int32_t dwt_readcarrierintegrator(void) ;
-void CalculateDists(void)
-{
- for(int i=0; i<11; i++)
- {
- rec_anc_signalpower[i] = exsistbase_list[i];
- if(exsistbase_list[i]>0)
- {
-
- exsistbase_list[i]--;
- clockOffsetRatio = anc_clockoffset[i] * (FREQ_OFFSET_MULTIPLIER * HERTZ_TO_PPM_MULTIPLIER_CHAN_5 / 1.0e6) ;
- rtd_init = tag_resprx[i] - poll_tx_ts&0xffffffff;
- rtd_resp = anc_resptx[i] - anc_pollrx[i];
- tof = ((rtd_init - rtd_resp * (1 - clockOffsetRatio)) / 2.0) * DWT_TIME_UNITS;
- distance = tof * SPEED_OF_LIGHT;
- if(distance>-10&&distance<1000)
- nearbase_distlist[i] = distance*100+anc_distoffset[i];
- } else {
- nearbase_distlist[i] = 0x1ffff;
- }
-
- }
-}
-void DiscPoll2(void)
-{
- uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
- static u8 notenoughdist_count=0;
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,j,getsync_flag=0,timeout,get_newdist;
- // USART_putc(current_slotnum);
- dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
- tag_succ_times = 0;
- salvebase_mindist=999999;
- get_newdist = 0;
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
- {
- next_nearbase_num = MAX_NEARBASE_NUM-1;
- }
- nearbase_num = 10;
- recbase_num=0;
-
- tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
-
- if(intheight!=0)
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
-
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
-
- tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
- tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
-
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-
- while(current_count<poll_startcount||current_count>poll_startcount+16384)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count<poll_startcount-300)
- {
- break;
- }
- }
- dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
- para_update = 0;
- flag_finalsend=0;
- flag_rxon=1;
- flag_getresponse=0;
- start_count=HAL_LPTIM_ReadCounter(&hlptim1);
- recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
- end_count=start_count+(timeout<<5);
- if(end_count>=32768)
- {
- end_count-=32768;
- }
- mainbase_dist=100000;
- mainbase_lost_count++;
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while(current_count<end_count||current_count>end_count+15000)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count>=end_count&¤t_count<end_count+15000)
- break;
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- test2 = dwt_readcarrierintegrator();
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
- if (rx_buffer[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- { u16 rec_nearbaseid,rec_nearbasepos;
- poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
- resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
- recbase_num++;
- memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(rec_nearbaseid==mainbase_id)
- {
- exsistbase_list[0]=KEEP_TIMES;
- SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
-
- //////////////////////////////////时间同步
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- dwt_forcetrxoff();
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
- if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
- {
- para_update = 1;
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
- para_len = frame_len-22;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
- }
- userkey_state = !GET_USERKEY;
-
- //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- temp_dist = nearbase_distlist[0];
- if(temp_dist!=nearbase_distlist[0])
- {
- get_newdist++;
- }
- mainbase_dist=temp_dist;
- nearbase_distlist[0] = temp_dist;
- base_mindist = temp_dist;
- if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
- motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
- if(frame_len==38)
- {
- memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
- memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
- if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
- {
- if(outrange_times++>OUTRANGE_RESTARTTIMES)
- {
- tag_state = STARTPOLL;
- }
- } else {
- outrange_times = 0;
- }
- }
-
-
-
- mainbase_lost_count=0;
- flag_finalsend=1;
- flag_getresponse=1;
- //时间同步
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {
- sync_timer=0;
- }
- }
- ancsync_time=((sync_timer)*1000+tmp_time);
- SetLPTimer(ancsync_time);
- break;
- } else {
-
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- SetANCTimestap(rec_nearbasepos+1,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
-
- exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
- //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- temp_dist = nearbase_distlist[rec_nearbasepos+1];
- if(frame_len==38)
- memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
- memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
- if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
- {
- get_newdist++;
- }
- nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
- {
- salvebase_mindist = temp_dist;
- mindist_slavebaseid = rec_nearbaseid;
- }
- }
- }
- } else {
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(recbase_num!=nearbase_num+1)
- {
- dwt_rxenable(0);
- }
- }
- }
- dwt_forcetrxoff();
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-
- if(mainbase_lost_count==0)
- {
-#ifdef SWITCHBASE_DIST
- if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
- {
- changemainbase_count++;
- if(changemainbase_count>2)
- {
- changemainbase_count = 0;
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- GetNearMsg();
- }
- } else {
- changemainbase_count = 0;
- }
-#endif
- } else if(mainbase_lost_count>10)
- {
- mainbase_lost_count = 0;
- tag_state = DISCPOLL;
- DiscPoll();
- }
- if(mainbase_lost_count!=0)
- {
- if(mainbase_lost_count<=5)
- { NextSlotDelayMs(0);
- } else {
- NextSlotDelayMs(0);
- }
- }
- CalculateDists();
- if(para_update)
- {
-
- pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1];
- pack_length = rec_remotepara[2];
- if(pack_msgtype==2)
- {
- if( pack_index == MOTOR_ONTIME_INDEX)
- {
- if(motor_keeptime==0)
- motor_keeptime = rec_remotepara[3];
- } else if( pack_index == 2*COM_INTERVAL)
- {
- if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
- {
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- save_com_map_to_flash();
- tag_frequency = 1000/g_com_map[COM_INTERVAL];
- bigslot_num = TOTAL_SLOTNUM/tag_frequency;
- }
- }
- else {
- if(pack_index<200)
- {
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- //返回一个error状态
- //SendComMap(pack_datalen,pack_index);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
- }
- }
- }
- }
- for(i=0; i<nearbase_num; i++)
- {
- if(nearbaseid_list[i]!=nearbaseid_list2[i])
- {
- tag_state = GETNEARMSG;
- GetNearMsg();
- trygetnearmsg_times = 0;
- nearbaseid_list0[i]=1;
- }
- }
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-}
-void NearPoll(void)
-{
-
- uint32_t temp1,temp2,dw_systime,mindist_slavebaseid;
- static u8 notenoughdist_count=0;
- uint32_t final_tx_time;
- u32 start_poll;
- u8 i,j,getsync_flag=0,timeout,get_newdist;
- // USART_putc(current_slotnum);
- dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
- tag_succ_times = 0;
- salvebase_mindist=999999;
- get_newdist = 0;
- if(next_nearbase_num>=MAX_NEARBASE_NUM)
- {
- next_nearbase_num = MAX_NEARBASE_NUM-1;
- }
- if(nearbase_num>10)
- {
- nearbase_num = 10;
- }
-// HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_SET);
-
- recbase_num=0;
-// motor_state=0;
- if(motor_state!=0&&motor_state!=3)
- {
- motor_flag = 1;
- } else {
- motor_flag = 0;
- }
-
- tx_near_msg[BATTARY_IDX] = bat_percent;
- tx_near_msg[BUTTON_IDX] = userkey_state|stationary_flag<<1|gotosleep_flag<<2|motor_flag<<5;
- tx_near_msg[SEQUENCE_IDX] = frame_seq_nb;
- tx_near_msg[SEQUENCEH_IDX] = (frame_seq_nb++)>>8;
- tx_near_msg[NEARBASENUM_INDEX] = nearbase_num;
- memcpy(&tx_near_msg[NEARBASEID_INDEX],&nearbaseid_list,nearbase_num*2);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*2],&nearbase_distlist,nearbase_num*4+4);
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*6+4],&rec_anc_signalpower,nearbase_num*2+2);
-
-
- if(intheight!=0)
- intheight+=g_com_map[HEIGHTOFFEST_INDEX];
-
- memcpy(&tx_near_msg[NEARBASEID_INDEX+nearbase_num*8+6],&intheight,2);
- tx_near_msg[MESSAGE_TYPE_IDX] = POS_POLL;
-
- tx_near_msg[NEARP_TAGFREQ_INDEX] = tag_frequency;
- tx_near_msg[NEARP_TAGSLOTPOS_INDEX] = tagslotpos;
-
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- dwt_writetxdata(29+8*nearbase_num, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(29+8*nearbase_num, 0);//设置超宽带发送数据长度
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-
- while(current_count<poll_startcount||current_count>poll_startcount+16384)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count<poll_startcount-300)
- {
- break;
- }
- }
- dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
-// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
-// for(i=0;i<nearbase_num+1;i++)
-// {
-// nearbase_distlist[i] = 0x1ffff;
-// }
-
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] =0;
- para_update = 0;
- flag_finalsend=0;
- flag_rxon=1;
- flag_getresponse=0;
- start_count=HAL_LPTIM_ReadCounter(&hlptim1);
- recbase_num=0;
- timeout=ceil((float)nearbase_num*SLOT_SCALE)+3;
- end_count=start_count+(timeout<<5);
- if(end_count>=32768)
- {
- end_count-=32768;
- }
- mainbase_dist=100000;
- mainbase_lost_count++;
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while(current_count<end_count||current_count>end_count+15000)
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
- {
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- if(current_count>=end_count&¤t_count<end_count+15000)
- break;
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- test2 = dwt_readcarrierintegrator();
- dwt_setrxtimeout(0);//设定接收超时时间，0位没有超时时间
- dwt_rxenable(0);//打开接收
- //HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
- if (rx_buffer[MESSAGE_TYPE_IDX] == POS_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- { u16 rec_nearbaseid,rec_nearbasepos;
- poll_tx_ts = get_tx_timestamp_u64(); //获得POLL发送时间T1
- resp_rx_ts = get_rx_timestamp_u64(); //获得RESPONSE接收时间T4
- recbase_num++;
- memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- if(rec_nearbaseid==mainbase_id)
- {
- exsistbase_list[0]=KEEP_TIMES;
- SetANCTimestap(0,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
-
- //////////////////////////////////时间同步
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
- dwt_forcetrxoff();
-// final_tx_time = (resp_rx_ts + ((RESP_RX_TO_FINAL_TX_DLY_UUS) * UUS_TO_DWT_TIME)) >> 8;
-// final_tx_ts = (((uint64_t)(final_tx_time & 0xFFFFFFFE)) << 8) + TX_ANT_DLY;//final包实际发送时间是计算时间加上发送天线delay
-// final_msg_set_ts(&tx_near_msg[FINAL_MSG_POLL_TX_TS_IDX], poll_tx_ts);//将T1，T4，T5写入发送数据
-// final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+nearbase_num*4], resp_rx_ts);
-// final_msg_set_ts(&tx_near_msg[FINAL_MSG_FINAL_TX_TS_IDX], final_tx_ts);
-// tx_near_msg[MESSAGE_TYPE_IDX]=POS_FINAL;
- rec_remotepara_state=rx_buffer[MOTORSTATE_INDEX]>>4;
- if(rec_remotepara_state&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2))
- {
- para_update = 1;
- tx_near_msg[TAGCONFIGSUCCESS_INDEX] = 1;
- para_len = frame_len-22;
- memcpy(rec_remotepara,&rx_buffer[REMOTEPARA_INDEX],para_len);
- }
-// dwt_writetxdata(28+nearbase_num*4, tx_near_msg, 0);//将发送数据写入DW1000
-// dwt_writetxfctrl(28+nearbase_num*4, 0);//设定发送数据长度
-// dwt_setdelayedtrxtime(final_tx_time);//设置final包发送时间T5
-// result=dwt_starttx(DWT_START_TX_DELAYED);//设定为延迟发送
- userkey_state = !GET_USERKEY;
-
- //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- temp_dist = nearbase_distlist[0];
- if(temp_dist!=nearbase_distlist[0])
- {
- get_newdist++;
- }
- mainbase_dist=temp_dist;
- nearbase_distlist[0] = temp_dist;
- base_mindist = temp_dist;
- if((rx_buffer[MOTORSTATE_INDEX]&0xf)!=3)
- motor_state=rx_buffer[MOTORSTATE_INDEX]&0xf;
- if(frame_len==38)
- {
- memcpy(&rec_maxrangelen,&rx_buffer[MAXRANGE_DISTANCE],2);
- memcpy(&rec_anc_signalpower[0],&rx_buffer[ANC_SIGNALPOWER],2);
- if(mainbase_dist>rec_maxrangelen&&mainbase_dist>0&&rec_maxrangelen!=0)
- {
- if(outrange_times++>OUTRANGE_RESTARTTIMES)
- {
- tag_state = STARTPOLL;
- }
- } else {
- outrange_times = 0;
- }
- }
-
-
-
- mainbase_lost_count=0;
- flag_finalsend=1;
-// memcpy(&mainbase_dist,&rx_buffer[DIST_IDX],4);
-
-
- flag_getresponse=1;
- //时间同步
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1000)
- {
- sync_timer=0;
- }
- }
- ancsync_time=((sync_timer)*1000+tmp_time);
- SetLPTimer(ancsync_time);
-// if(result==0)
-// {while (!(dwt_read32bitreg(SYS_STATUS_ID) & SYS_STATUS_TXFRS))//不断查询芯片状态直到发送完成
-// { };}
-//HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
- break;
- } else {
-
- rec_nearbasepos=FindNearBasePos(rec_nearbaseid);
- SetANCTimestap(rec_nearbasepos+1,&rx_buffer[RESP_MSG_POLL_RX_TS_IDX],&rx_buffer[RESP_MSG_RESP_TX_TS_IDX],resp_rx_ts,&rx_buffer[RESP_MSG_ANC_DISTOFFSET]);
-
- exsistbase_list[rec_nearbasepos+1]=KEEP_TIMES;
- //memcpy(&temp_dist,&rx_buffer[DIST_IDX],4);
- temp_dist = nearbase_distlist[rec_nearbasepos+1];
- if(frame_len==38)
- memcpy(&rec_anc_signalpower[rec_nearbasepos+1],&rx_buffer[ANC_SIGNALPOWER],2);
- memcpy(&nearbase_switchdistlist[rec_nearbasepos],&rx_buffer[NR_NEARSWITCH_DISTANCE],2);
- if(temp_dist!=nearbase_distlist[rec_nearbasepos+1])
- {
- get_newdist++;
- }
- nearbase_distlist[rec_nearbasepos+1]=temp_dist; // nearbase_distlist[1]对应 rec_nearbaseid[0]的距离
- final_msg_set_ts(&tx_near_msg[FINAL_MSG_RESP_RX_NEARBASE_IDX+(rec_nearbasepos)*4], resp_rx_ts);
- if(temp_dist<salvebase_mindist&&nearbase_switchdistlist[rec_nearbasepos]!=0&&(nearbase_switchdistlist[rec_nearbasepos]==1||temp_dist<nearbase_switchdistlist[rec_nearbasepos]))
- {
- salvebase_mindist = temp_dist;
- mindist_slavebaseid = rec_nearbaseid;
- }
-#ifdef SWITCHBASE_ZHUANDIAN
-// if(temp_dist<nearbase_switchdistlist[rec_nearbasepos]&&nearbase_switchdistlist[rec_nearbasepos]>1&&temp_dist>0)
-// {
-// mainbase_id = rec_nearbaseid;
-// tag_state = GETNEARMSG;
-// trygetnearmsg_times = 0;
-// }
-#endif
-
- }
- }
- // HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_RESET);
- } else {
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- if(recbase_num!=nearbase_num+1)
- {
- dwt_rxenable(0);
- }
- // if(flag_rxon)
-// {
- // dwt_rxenable(0);
-// }
- }
- // dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
- }
- if(flag_finalsend!=1)
- {
- flag_finalsend = 2;
- }
- dwt_forcetrxoff();
- dwt_write32bitreg(SYS_STATUS_ID,SYS_STATUS_RXFCG| SYS_STATUS_ALL_RX_ERR);
-// HAL_GPIO_WritePin(LED1_G_GPIO_Port, LED1_G_Pin, GPIO_PIN_SET);
- if(mainbase_lost_count==0)
- {
-#ifdef SWITCHBASE_DIST
- if(salvebase_mindist<mainbase_dist- THRESHOLD_CHANGE_MAINBASE_DIST )
- {
- changemainbase_count++;
- if(changemainbase_count>2)
- {
- changemainbase_count = 0;
- mainbase_id = mindist_slavebaseid;
- tag_state = GETNEARMSG;
- trygetnearmsg_times = 0;
- GetNearMsg();
- }
- } else {
- changemainbase_count = 0;
- }
-#endif
- } else if(mainbase_lost_count>10)
- {
- mainbase_lost_count = 0;
- tag_state = DISCPOLL;
- DiscPoll();
- }
- if(mainbase_lost_count!=0)
- {
- if(mainbase_lost_count<=5)
- { NextSlotDelayMs(0);
- } else {
- NextSlotDelayMs(0);
- }
- }
- CalculateDists();
- if(para_update)
- {
-
- pack_msgtype = rec_remotepara[0];
- pack_index = rec_remotepara[1];
- pack_length = rec_remotepara[2];
- if(pack_msgtype==2)
- {
- if( pack_index == MOTOR_ONTIME_INDEX)
- {
- if(motor_keeptime==0)
- motor_keeptime = rec_remotepara[3];
- } else if( pack_index == 2*COM_INTERVAL)
- {
- if(memcmp(&g_com_map[COM_INTERVAL],&rec_remotepara[3],2)!=0)
- {
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- save_com_map_to_flash();
- tag_frequency = 1000/g_com_map[COM_INTERVAL];
- bigslot_num = TOTAL_SLOTNUM/tag_frequency;
- }
- }
- else {
- if(pack_index<200)
- {
- memcpy((uint8_t*)&g_com_map + pack_index, &rec_remotepara[3], pack_length);
- //返回一个error状态
- //SendComMap(pack_datalen,pack_index);
- save_com_map_to_flash();
- delay_ms(100);
- NVIC_SystemReset();
- }
- }
- }
- }
-// if(get_newdist>=2)
-// {
-// notenoughdist_count = 0;
-// }else{
-// if(notenoughdist_count++>10)
-// {
-// notenoughdist_count = 0;
-// tag_state = DISCPOLL;
-// }
-// }
- for(i=0; i<nearbase_num; i++)
- {
- if(nearbaseid_list[i]!=nearbaseid_list2[i])
- {
- tag_state = GETNEARMSG;
- GetNearMsg();
- trygetnearmsg_times = 0;
- nearbaseid_list0[i]=1;
- }
- }
- // SendHuiZongData();
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR| SYS_STATUS_TXFRS |SYS_STATUS_RXFCG);
-//HAL_GPIO_WritePin(LED0_GPIO, GPIO_PIN_9, GPIO_PIN_RESET);
-
-}
-extern uint8_t module_power,imu_enable,motor_enable;
-void Registor_Poll(void)
-{
- static u8 regpoll_count=0;
- mainbase_lost_count = 0;
- tag_frequency = REGISTER_FREQUENCY;
- bigslot_num = TOTAL_SLOTNUM/tag_frequency;
- regpoll_count++;
- if(regpoll_count%2)
- {
- if(tagslotpos--<2)
- tagslotpos=TOTAL_SLOTNUM;
- }
- //SetNextPollTime(tagslotpos);
- NextSlotDelayMs(-2);
-
- dwt_setrxaftertxdelay(POLL_TX_TO_RESP_RX_DLY_UUS); //设置发送后开启接收，并设定延迟时间
- dwt_setrxtimeout(RESP_RX_TIMEOUT_UUS);
-
- tx_near_msg[REGP_TAGSTATE_INDEX] = !GET_USERKEY<<2|imu_enable<<1|motor_enable;
- tx_near_msg[MESSAGE_TYPE_IDX] = REG_POLL2;
- tx_near_msg[REGP_FREQUENCY_INDEX] = 1000/g_com_map[COM_INTERVAL];
- tx_near_msg[REGP_POWER_INDEX] = module_power;
- memcpy(&tx_near_msg[ANCHOR_ID_IDX],&mainbase_id,2);
- memcpy(&tx_near_msg[REGP_VERSION_INDEX],&g_com_map[VERSION],2);
- memcpy(&tx_near_msg[REGP_IMUTHRES_INDEX],&g_com_map[IMU_THRES],2);
- memcpy(&tx_near_msg[REGP_NOMOVESLEEPTIME_INDEX],&g_com_map[NOMOVESLEEP_TIME],2);
- send_buffer[REGP_BATTARY_INDEX] = bat_percent;
-// memcpy(&tx_near_msg[REGP_HEIGHTOFFSET_INDEX],&g_com_map[HEIGHTOFFEST_INDEX],2);
- dwt_writetxdata(23, tx_near_msg, 0);//将Poll包数据传给DW1000，将在开启发送时传出去
- dwt_writetxfctrl(23, 0);//设置超宽带发送数据长度
- dwt_starttx(DWT_START_TX_IMMEDIATE | DWT_RESPONSE_EXPECTED);//开启发送，发送完成后等待一段时间开启接收，等待时间在dwt_setrxaftertxdelay中设置
- while (!((status_reg = dwt_read32bitreg(SYS_STATUS_ID)) & (SYS_STATUS_RXFCG | SYS_STATUS_ALL_RX_ERR)))//不断查询芯片状态直到成功接收或者发生错误
- {
- IdleTask();
-
- };
- if(status_reg==0xffffffff)
- {
- NVIC_SystemReset();
- }
- if (status_reg & SYS_STATUS_RXFCG)//如果成功接收
- {
- dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_RXFCG | SYS_STATUS_TXFRS);//清楚寄存器标志位
- frame_len = dwt_read32bitreg(RX_FINFO_ID) & RX_FINFO_RXFLEN_MASK; //获得接收到的数据长度
- dwt_readrxdata(rx_buffer, frame_len, 0); //读取接收数据
- if (rx_buffer[MESSAGE_TYPE_IDX] == REG_RESPONSE&&!memcmp(&rx_buffer[TAG_ID_IDX],&dev_id,2)) //判断接收到的数据是否是response数据
- { u16 rec_nearbaseid,rec_nearbasepos;
-
- memcpy(&rec_nearbaseid,&rx_buffer[ANCHOR_ID_IDX],2);
- tag_frequency = rx_buffer[REGR_TAGFREQ_INDEX];
- bigslot_num = TOTAL_SLOTNUM/tag_frequency;
- tagslotpos = rx_buffer[REGR_TAGSLOTPOS_INDEX];
- //////////////////////////////////时间同步
- memcpy(&sync_timer,&rx_buffer[ANCTIMEMS],2);
- memcpy(&tmp_time,&rx_buffer[ANCTIMEUS],2);
- current_count=HAL_LPTIM_ReadCounter(&hlptim1);
-// memcpy(&tagslotpos,&rx_buffer[TAGSLOTPOS],2);
- tmp_time=tmp_time+450;
- if(tmp_time>999)
- {
- tmp_time-=999;
- sync_timer++;
- if(sync_timer>=1010)
- {
- sync_timer=0;
- }
- }
- ancsync_time=((sync_timer)*1000+tmp_time);
- SetLPTimer(ancsync_time);
-// last_slotnum=current_slotnum;
-// temptimer = sync_timer-10;
-// if(temptimer<0)
-// {temptimer+=1000;}
-// current_slotnum=((float)temptimer/(SLOTTIME_MS*bigslot_num))+1;
-// if(current_slotnum==last_slotnum-1)
-// {flag_getresponse=1;}
-// lastsync_timer=sync_timer;
-// offsettimeus=ancsync_time-current_count*LPTIMER_LSB+offset;
-// SetNextPollTime(tagslotpos);
- mainbase_id=rec_nearbaseid;
- nearbase_num=rx_buffer[NEARBASENUM_INDEX];
- memcpy(nearbaseid_list,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- memcpy(nearbaseid_list2,&rx_buffer[NEARBASEID_INDEX],nearbase_num*2);
- if(tagslotpos!=255)
- {
- trygetnearmsg_times = 0;
- tag_state = GETNEARMSG;
- GetNearMsg();
- }
- }
- }
-}
u32 id,error_times=0;
extern float Height;
extern float Altitude;
void QiyaJizhan_Send(void)
{
+ static uint16_t frame_seq_nb;
+ uint8_t nearbase_num;
+ uint16_t mainbase_id,checksum;
GetPressAndHeight();
intheight =Altitude*100;
nearbase_num = 0;
@@ -1436,24 +109,26 @@
usart_send[6] = frame_seq_nb;
usart_send[7] = frame_seq_nb++>>8;
usart_send[8] = bat_percent;
- usart_send[9] = tx_near_msg[BUTTON_IDX];
+ usart_send[9] = 0;
memcpy(&usart_send[10],&intheight,2);
usart_send[12] = tag_frequency;
- usart_send[13] = tagslotpos;
+ usart_send[13] = 0;
usart_send[14] = 0;
usart_send[15] = 0;
usart_send[16] = nearbase_num+1;
memcpy(&usart_send[17],&mainbase_id,2);
- memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
- memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
- memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
+// memcpy(&usart_send[19],&nearbaseid_list,2*nearbase_num);
+// memcpy(&usart_send[19+nearbase_num*2],&nearbase_distlist,4*nearbase_num+4);
+// memcpy(&usart_send[19+nearbase_num*6+4],&rec_anc_signalpower,2*nearbase_num+2);
checksum = Checksum_u16(&usart_send[2],23+8*nearbase_num);
memcpy(&usart_send[25+8*nearbase_num],&checksum,2);
USART_puts(usart_send,27+8*nearbase_num);
//HexToAsciiSendUDP(usart_send,27+8*nearbase_num);
}
+extern void SwitchTagState(void);
+extern u8 userkey_state;
void Tag_App(void)//发送模式(TAG标签)
{
@@ -1479,42 +154,7 @@
// Dw1000_Init();
dwt_forcetrxoff();
error_times = 0;
- switch(tag_state)
- {
- case REGPOLL:
- LED_LG_ON;
- Registor_Poll();
- if(try_reg_times++>5)
- {
- tag_state = STARTPOLL;
- }
- LED_LG_OFF;
-// GetPressAndHeight();
- break;
- case DISCPOLL:
- LED_LG_ON;
- DiscPoll2();
- LED_LG_OFF;
- break;
- case GETNEARMSG:
-
- LED_LG_ON;
- GetNearMsg();
- LED_LG_OFF;
- if(trygetnearmsg_times++>5)
- {
- tag_state = STARTPOLL;
- }
- break;
- case NEARPOLL:
- NearPoll();
- // GetPressAndHeight();
- // intheight =Altitude*100;
- break;
- case SINGLEPOLL:
- // Poll();
- break;
- }
+ SwitchTagState();
GetPressAndHeight();
intheight =Altitude*100;
userkey_state = !GET_USERKEY;
--
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